20251211

张世豪

2025-12-11 6f59464fc6e12a525ba3004864eceb1bc1573a31

 src/gecaoji/Device.java

@@ -72,6 +72,8 @@
    // 卫星可数
    private String differentialAge;
    // 差分时间
    private String selfCheckStatus = "-1";
    // 割草机自检状态

    private static final double METERS_PER_DEGREE_LAT = 111320.0d;
    
@@ -131,6 +133,7 @@
        target.positioningStatus = properties.getProperty("positioningStatus", "-1");
        target.satelliteCount = properties.getProperty("satelliteCount", "-1");
        target.differentialAge = properties.getProperty("differentialAge", "-1");
    target.selfCheckStatus = properties.getProperty("selfCheckStatus", "-1");
    }

    private void applyDefaults(Device target) {
@@ -162,6 +165,7 @@
        target.positioningStatus = "-1";
        target.satelliteCount = "-1";
        target.differentialAge = "-1";
    target.selfCheckStatus = "-1";
    }

    public static synchronized Device initializeActiveDevice(String mowerId) { // 根据设备ID初始化活跃设备
@@ -260,6 +264,9 @@
            case "differentialAge":
                this.differentialAge = value;
                return true;
            case "selfCheckStatus":
                this.selfCheckStatus = value;
                return true;
            default:
                System.err.println("未知字段: " + fieldName);
                return false;
@@ -274,6 +281,14 @@
        device.applyGNGGAUpdate(gnggaData, deviceId);
    }

    public static synchronized void updateFromSerialGNGGA(String gnggaData) { // 串口数据更新路径（无需设备编号匹配）
        Device device = gecaoji;
        if (device == null) {
            return;
        }
        device.chuankouGNGGAUpdate(gnggaData);
    }

    private void applyGNGGAUpdate(String gnggaData, String deviceId) { // 执行GNGGA更新逻辑
        if (gnggaData == null) {
            return;
@@ -306,9 +321,19 @@
        String longitudeValue = sanitizeField(fields, 4);
        String longitudeHemisphere = sanitizeField(fields, 5);

        realtimeLatitude = defaultIfEmpty(combineCoordinate(latitudeValue, latitudeHemisphere));
        realtimeLongitude = defaultIfEmpty(combineCoordinate(longitudeValue, longitudeHemisphere));
        realtimeAltitude = defaultIfEmpty(sanitizeField(fields, 9));
        String combinedLatitude = combineCoordinate(latitudeValue, latitudeHemisphere);
        if (hasMeaningfulValue(combinedLatitude)) {
            realtimeLatitude = combinedLatitude;
        }
        String combinedLongitude = combineCoordinate(longitudeValue, longitudeHemisphere);
        if (hasMeaningfulValue(combinedLongitude)) {
            realtimeLongitude = combinedLongitude;
        }

        String altitudeValue = sanitizeField(fields, 9);
        if (hasMeaningfulValue(altitudeValue)) {
            realtimeAltitude = altitudeValue;
        }

        positioningStatus = defaultIfEmpty(sanitizeField(fields, 6));
        satelliteCount = defaultIfEmpty(sanitizeField(fields, 7));
@@ -321,28 +346,68 @@

        updateRelativeCoordinates(latitudeValue, latitudeHemisphere, longitudeValue, longitudeHemisphere);
    }
    
    /**串口更新GNGGA数据*/
    private void chuankouGNGGAUpdate(String gnggaData) { // 执行GNGGA更新逻辑
        if (gnggaData == null) {
            return;
        }

        String trimmed = gnggaData.trim();
        if (trimmed.isEmpty() || !trimmed.startsWith("$GNGGA")) {
            return;
        }

        String[] fields = trimmed.split(",");
        if (fields.length < 15) {
            System.err.println("GNGGA字段数量不足: " + fields.length);
            return;
        }

        
        String latitudeValue = sanitizeField(fields, 2);
        String latitudeHemisphere = sanitizeField(fields, 3);
        String longitudeValue = sanitizeField(fields, 4);
        String longitudeHemisphere = sanitizeField(fields, 5);

        String combinedLatitude = combineCoordinate(latitudeValue, latitudeHemisphere);
        if (hasMeaningfulValue(combinedLatitude)) {
            realtimeLatitude = combinedLatitude;
        }
        String combinedLongitude = combineCoordinate(longitudeValue, longitudeHemisphere);
        if (hasMeaningfulValue(combinedLongitude)) {
            realtimeLongitude = combinedLongitude;
        }

        String altitudeValue = sanitizeField(fields, 9);
        if (hasMeaningfulValue(altitudeValue)) {
            realtimeAltitude = altitudeValue;
        }

        positioningStatus = defaultIfEmpty(sanitizeField(fields, 6));
        satelliteCount = defaultIfEmpty(sanitizeField(fields, 7));
        differentialAge = defaultIfEmpty(sanitizeField(fields, 13));       
        realtimeSpeed ="0";        
        GupdateTime = String.valueOf(System.currentTimeMillis());

        updateRelativeCoordinates(latitudeValue, latitudeHemisphere, longitudeValue, longitudeHemisphere);
    }

    private void updateRelativeCoordinates(String latValue, String latHemisphere,
                                           String lonValue, String lonHemisphere) { // 计算相对坐标
        if (!hasMeaningfulValue(latValue) || !hasMeaningfulValue(lonValue)
                || !hasMeaningfulValue(latHemisphere) || !hasMeaningfulValue(lonHemisphere)) {
            realtimeX = "-1";
            realtimeY = "-1";
            return;
        }

        double mowerLat = toDecimalDegrees(latValue, latHemisphere);
        double mowerLon = toDecimalDegrees(lonValue, lonHemisphere);
        if (Double.isNaN(mowerLat) || Double.isNaN(mowerLon)) {
            realtimeX = "-1";
            realtimeY = "-1";
            return;
        }

        double[] baseLatLon = resolveBaseStationLatLon();
        if (baseLatLon == null) {
            realtimeX = "-1";
            realtimeY = "-1";
            return;
        }

@@ -354,8 +419,10 @@
        double eastMeters = deltaLonDeg * metersPerLon;
        double northMeters = deltaLatDeg * METERS_PER_DEGREE_LAT;

        realtimeX = formatMeters(eastMeters);
        realtimeY = formatMeters(northMeters);
        if (Double.isFinite(eastMeters) && Double.isFinite(northMeters)) {
            realtimeX = formatMeters(eastMeters);
            realtimeY = formatMeters(northMeters);
        }
    }

    private double[] resolveBaseStationLatLon() { // 解析基站经纬度
@@ -636,6 +703,14 @@
        this.differentialAge = differentialAge;
    }

    public String getSelfCheckStatus() { // 获取自检状态
        return selfCheckStatus;
    }

    public void setSelfCheckStatus(String selfCheckStatus) { // 设置自检状态
        this.selfCheckStatus = selfCheckStatus;
    }

    @Override
    public String toString() { // 输出对象信息
        return "Device{" +
@@ -663,6 +738,7 @@
                ", positioningStatus='" + positioningStatus + '\'' +
                ", satelliteCount='" + satelliteCount + '\'' +
                ", differentialAge='" + differentialAge + '\'' +
                ", selfCheckStatus='" + selfCheckStatus + '\'' +
                '}';
    }
}